#ifndef IMU_CONSTANTS_H
#define IMU_CONSTANTS_H 1
// C - center offset
// S - scale
// E - error
// note errors after normalization

// magnetometer

#define IMU_MAG_C_X 318.693
#define IMU_MAG_C_Y 401.345
#define IMU_MAG_C_Z 213.988

#define IMU_MAG_S_X 497.912
#define IMU_MAG_S_Y 514.983
#define IMU_MAG_S_Z 503.119

#define IMU_MAG_A_11 1.0026
#define IMU_MAG_A_12 0.0369
#define IMU_MAG_A_13 0.0233

#define IMU_MAG_A_21 0.0343
#define IMU_MAG_A_22 0.9929
#define IMU_MAG_A_23 0.0219

#define IMU_MAG_A_31 0.0058
#define IMU_MAG_A_32 0.0201
#define IMU_MAG_A_33 0.9999

#define IMU_MAG_ES_X 0.007
#define IMU_MAG_ES_Y 0.007
#define IMU_MAG_ES_Z 0.007

#define IMU_MAG_ED_X 0
#define IMU_MAG_ED_Y 0
#define IMU_MAG_ED_Z 0

//accelerometer
#define IMU_ACC_C_X -31.32
#define IMU_ACC_C_Y  64.36
#define IMU_ACC_C_Z  34.25

#define IMU_ACC_S_X 1029.22
#define IMU_ACC_S_Y 1050.55
#define IMU_ACC_S_Z 1037.28

#define IMU_ACC_ES_X 0.009
#define IMU_ACC_ES_Y 0.009
#define IMU_ACC_ES_Z 0.011

#define IMU_ACC_ED_X 0
#define IMU_ACC_ED_Y 0
#define IMU_ACC_ED_Z 0

// gyroscope
#define IMU_GYR_ES_X 0.00609
#define IMU_GYR_ES_Y 0.00577
#define IMU_GYR_ES_Z 0.10741

#define IMU_GYR_ED_X 0.00609
#define IMU_GYR_ED_Y 0.00577
#define IMU_GYR_ED_Z 0.10741

#endif

